I have just started to learn KUKA programming (KR C4) and now I need some hints.
Handling robot needs to find deviation in a part location on a conveyor. I have following plan to do this.
- I'm going to attach a on/off type sensor in to a tool and connect it to robot input.
- The robot will do linear search movement toward the part surface and when the sensor finds the part robot movement should be stopped based on the input signal.
- After this current robot position read on $BASE coordinate. This will be done in both X and Y directions.
- Finally the deviation will be calculated comparing these sensed positions to programmed reference coordinates.
- Some programmed positions will be shifted by amount of calculated deviation.
I have no idea what robot commands should I use or do I need to buy some software option like touch search in arc welding. How to stop movement when specified input signal is true?
Are there some other ways to implement this on KR C4 controller?